BlueBoat

The BlueBoat is a twin hull differential drive unmanned surface vessel. In simulation it floats on graded buoyancy, is driven by thrust commands to its two outboard motors, and carries the Ping2 echosounder.

• Running the simulation
• Actuators
• Sensors
• Configuration
• BlueBoat Parameters
• Verify the SITL connection (Boat)
• Tuning of closed-loop response for BlueBoat
• Commissioning materials for visual assets

The default vehicle

The default configuration is the chassis (pontoons, crossbeams, hatches and the outboard thruster bodies) with its two M200 weedless propellers, the flag on the aft crossbeam and the Ping2 echosounder on its integration kit bracket, face below the waterline. Everything else in the catalog can be fitted, and the defaults swapped or left off (Configuration).